Surgical instrument holder for use with a robotic surgical system

ABSTRACT

Described herein is a surgical instrument holder for use with a robotic surgical system, for example, during spinal surgery. In certain embodiments, the surgical instrument holder is an interface between the robotic arm and a surgical instrument used during surgery. This interface may hold the surgical instrument precisely, rigidly, and in a stable manner while permitting a surgeon to easily and quickly install or withdraw the instrument in case of emergency.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is continuation of U.S. patent application Ser. No.15/990,901 filed on May 29, 2018, which is a continuation of U.S. patentapplication Ser. No. 14/695,154, filed Oct. 29, 2015, which claimspriority to U.S. provisional Application No. 61/983,816, filed Apr. 24,2014, in which the entire contents are incorporated by reference hereinin their entities for all purposes.

BACKGROUND

Robotic-assisted surgical systems have been developed to improvesurgical precision and enable the implementation of new surgicalprocedures. For example, robotic systems have been developed to sense asurgeon's hand movements and translate them to scaled-downmicro-movements and filter out unintentional tremors for precisemicrosurgical techniques in organ transplants, reconstructions, andminimally invasive surgeries. Other robotic systems are directed totelemanipulation of surgical tools such that the surgeon does not haveto be present in the operating room, thereby facilitating remotesurgery. Feedback-controlled robotic systems have also been developed toprovide smoother manipulation of a surgical tool during a procedure thancould be achieved by an unaided surgeon.

However, widespread acceptance of robotic systems by surgeons andhospitals is limited for a variety of reasons. Current systems areexpensive to own and maintain. They often require extensive preoperativesurgical planning prior to use, and they extend the required preparationtime in the operating room. They are physically intrusive, possiblyobscuring portions of a surgeons field of view and blocking certainareas around the operating table, such that a surgeon and/or surgicalassistants are relegated to one side of the operating table. Currentsystems may also be non-intuitive or otherwise cumbersome to use,particularly for surgeons who have developed a special skill or “feel”for performing certain maneuvers during surgery and who find that suchskill cannot be implemented using the robotic system. Finally, roboticsurgical systems may be vulnerable to malfunction or operator error,despite safety interlocks and power backups.

Spinal surgeries often require precision drilling and placement ofscrews or other implements in relation to the spine, and there may beconstrained access to the vertebrae during surgery that makes suchmaneuvers difficult. Catastrophic damage or death may result fromimproper drilling or maneuvering of the body during spinal surgery, dueto the proximity of the spinal cord and arteries. Common spinal surgicalprocedures include a discectomy for removal of all or part of a disk, aforaminotomy for widening of the opening where nerve roots leave thespinal column, a laminectomy for removal of the lamina or bone spurs inthe back, and spinal fusion for fusing of two vertebrae or vertebralsegments together to eliminate pain caused by movement of the vertebrae.

Spinal surgeries that involve screw placement require preparation ofholes in bone (e.g., vertebral segments) prior to placement of thescrews. Where such procedures are performed manually, in someimplementations, a surgeon judges a drill trajectory for subsequentscrew placement on the basis of pre-operative CT scans. Other manualmethods which do not involve usage of the pre-operative CT scans, suchas fluoroscopy, 3D fluoroscopy or natural landmark-based, may be used todetermine the trajectory for preparing holes in bone prior to placementof the screws. In some implementations, the surgeon holds the drill inhis hand while drilling, and fluoroscopic images are obtained to verifyif the trajectory is correct. Some surgical techniques involve usage ofdifferent tools, such as a pedicle finder or K-wires. Such proceduresrely strongly on the expertise of the surgeon, and there is significantvariation in success rate among different surgeons. Screw misplacementis a common problem in such surgical procedures.

Image-guided spinal surgeries involve optical tracking to aid in screwplacement. However, such procedures are currently performed manually,and surgical tools can be inaccurately positioned despite virtualtracking. A surgeon is required to coordinate his real-world, manualmanipulation of surgical tools using images displayed on a twodimensional screen. Such procedures can be non-intuitive and requiretraining, since the surgeon's eye must constantly scan both the surgicalsite and the screen to confirm alignment. Furthermore, procedural errorcan result in registration inaccuracy of the image-guiding system,rendering it useless, or even misleading. Thus, there is a need for asystem for stabilizing surgical instruments while allowing theinstruments and the instrument holder to be both easily sterilized andinstalled and removed from the robotic system without deterioratinglocalization precision as well as attachment rigidity.

SUMMARY

Described herein is a surgical instrument holder for use with a roboticsurgical system, for example, during spinal surgery. In certainembodiments, the holder is attached to a robotic arm and provides arigid structure that allows for precise preparation of patient tissue(e.g., preparation of a pedicle) by drilling, tapping, or othermanipulation, as well as precise placement of a screw in a drilled holeor affixation of a prosthetic or implant in a prepared patientsituation.

In certain embodiments, the surgical instrument holder is an interfacebetween the robotic arm and a surgical instrument used during surgery.The surgical instrument holder holds the surgical instrument precisely,rigidly, and in a stable manner while permitting a surgeon to easily andquickly install or withdraw the instrument in case of emergency. Thesurgical instrument includes a base that is mechanically coupled to therobotic arm.

In some implementations, the instrument holder needs to be sterilized(e.g., in autoclave). The disclosed instrument holder may be easilyinstalled and removed from the robotic system without deterioratinglocalization precision as well as attachment rigidity. Localizationprecision is achieved by, for example, localization pins inserted intothe base. The pins may come in contact with oblong openings in a thinlocalization plate precisely held on the robotic arm. The instrumentholder's base is localized on the robotic arm using pins that come incontact with oblong openings in the localization plate. A screw may betightened directly into the robot to rigidly attached the instrumentholder's base to the robot.

A surgical instrument slides into a channel in the base of theinstrument holder. A clamp may be positioned with the instrument betweenthe base and the clamp such that the instrument is securely held betweenthe base and the clamp when a nut is tightened against the clamp (e.g.,pushing the clamp against the instrument). A navigation marker may alsobe secured between the base and the clamp. The surface of the clamp thatcontacts the nut may be cambered such that a horizontal line of contactis formed instead of a full surface. This horizontal line of contactallows the clamp to slightly tilt to accommodate for dimensionalvariations.

The disclosed technology, in certain embodiments, includes a surgicalinstrument holder for use with a robotic surgical system. The surgicalinstrument holder, in certain embodiments, includes a base configured tobe mechanically coupled to a robotic arm of the robotic surgical system.The base may include a first channel having an interior surface sizedand shaped to accommodate a tightening screw configured to securelyattach the base directly or indirectly to a robotic arm of the roboticsurgical system, a second channel having an interior surface with atapered cylindrical shape sized to accommodate a surgical instrumenttherethrough such that movement of the surgical instrument isconstrained in all directions except along an axis defined by the secondchannel surface, a first tapered curved surface extending along the axisof the second channel configured to be engaged by a surgical instrumentwhen the surgical instrument is secured in the second channel, whereinfirst channel and the second channel intersect, and one or more pinsinserted into the base such that the one or more pins (e.g., threepins), upon mechanically coupling the base to the robotic arm, engageone or more openings (e.g., one or more oblong openings) in a toolsupport (e.g., in a localization plate of the robotic arm) therebyprecisely locating the surgical instrument holder relative to therobotic arm (e.g., where the one or more openings are wider than the oneor more pins and the one or more openings taper long their lengths).

The surgical instrument holder, in certain embodiments, includes a clampconfigured to engage the surgical instrument when placed through thesecond channel such that the surgical instrument is securely heldbetween the clamp and the base upon tightening of a nut. The clamp mayinclude a third channel having an interior surface shaped and sized toaccommodate the first channel sliding therethrough; a second taperedcurved surface configured to be engaged by a surgical instrument whenthe surgical instrument is secured in the second channel; and one ormore slits configured to allow a body of the clamp to elastically deformupon tightening of the nut, wherein the nut is configured to engagethreads on an exterior surface of the first channel and a camberedsurface of the clamp. The instrument holder may be configured such thata navigation marker is securely held between the clamp the base uponplacing the navigation marker between the clamp and the base andtightening the nut. In certain embodiments, the navigation marker isused by a navigation camera to track the surgical instrument.

An exterior surface of the first channel may be threaded to securelyaccommodate the nut such that surgical instrument is securely heldbetween the clamp the base upon placing the surgical instrument in thesecond channel and tightening the nut. In certain embodiments, thesurgical instrument is an instrument guide (e.g., drill guide)configured to receive a second surgical instrument therethrough, thesecond surgical instrument being a drill bit, tap, screw driver, or awl.

In certain embodiments, the base includes a threaded bushing having aninterior surface. In certain embodiments, the first channel passesthrough interior surface of the threaded bushing and the interiorsurface of the threaded bushing is threaded such that the threads on thetightening screw engage the threads on the threaded bushing as thetightening screw is inserted through the threaded bushing. In certainembodiments, the tightening screw includes a tip on a proximate end of ascrew body; a head on a distal end of the screw body; and threads alonga portion of the screw body. In certain embodiments, the threads alongthe portion of the screw body are along a portion of the screw bodyclosest to the tip of the tightening screw. In certain embodiments, theportion of the screw body closest to the head is smooth such that thetightening screw is loosely held in place by the threaded bushing whenthe tightening screw is fully inserted into the threaded bushing.

In certain embodiments, the disclosed technology includes a surgicalinstrument holder for use with a robotic surgical system, the surgicalinstrument holder including: a base configured to be mechanicallycoupled to a robotic arm of the robotic surgical system, the baseincluding: a first channel having an interior surface sized and shapedto accommodate a tightening screw configured to securely attach the basedirectly or indirectly to a robotic arm of the robotic surgical system,a second channel having an interior surface with a tapered cylindricalshape sized to accommodate a surgical instrument therethrough such thatmovement of the surgical instrument is constrained in all directionsexcept along an axis defined by the second channel surface, a firsttapered curved surface extending along the axis of the second channelconfigured to be engaged by a surgical instrument when the surgicalinstrument is secured in the second channel, wherein first channel andthe second channel intersect, and one or more pins inserted into thebase such that the one or more pins, upon mechanically coupling the baseto the robotic arm, engage one or more openings in a tool supportthereby precisely locating the surgical instrument holder relative tothe robotic arm; and a clamp configured to engage the surgicalinstrument when placed through the second channel such that the surgicalinstrument is securely held between the clamp and the base upontightening of a nut.

In certain embodiments, the base includes a threaded bushing having aninterior surface.

In certain embodiments, the first channel passes through interiorsurface of the threaded bushing and the interior surface of the threadedbushing is threaded such that the threads on the tightening screw engagethe threads on the threaded bushing as the tightening screw is insertedthrough the threaded bushing.

In certain embodiments, the tightening screw includes: a tip on aproximate end of a screw body; a head on a distal end of the screw body;and threads along a portion of the screw body.

In certain embodiments, the threads along the portion of the screw bodyare along a portion of the screw body closest to the tip of thetightening screw.

In certain embodiments, the portion of the screw body closest to thehead is smooth such that the tightening screw is loosely held in placeby the threaded bushing when the tightening screw is fully inserted intothe threaded bushing.

In certain embodiments, the clamp includes a third channel having aninterior surface shaped and sized to accommodate the first channelsliding therethrough; a second tapered curved surface configured to beengaged by a surgical instrument when the surgical instrument is securedin the second channel; and one or more slits configured to allow a bodyof the clamp to elastically deform upon tightening of the nut, whereinthe nut is configured to engage threads on an exterior surface of thefirst channel and a cambered surface of the clamp.

In certain embodiments, the one or more openings are one or more oblongopenings.

In certain embodiments, the one or more pins comprise three pins.

In certain embodiments, the surgical instrument is an instrument guideconfigured to receive a second surgical instrument therethrough, thesecond surgical instrument comprising a member selected from the groupconsisting of: a drill bit, tap, screw driver, and awl.

In certain embodiments, the instrument guide is a drill guide.

In certain embodiments, the robotic surgical system is for use in spinalsurgery.

In certain embodiments, instrument holder is configured such that anavigation marker is securely held between the clamp the base uponplacing the navigation marker between the clamp and the base andtightening the nut.

In certain embodiments, the navigation marker is used by a navigationcamera to track the surgical instrument.

In certain embodiments, the tool support is a localization plate of therobotic arm.

In certain embodiments, the one or more openings are wider than the oneor more pins and the one or more openings taper long their lengths.

In certain embodiments, an exterior surface of the first channel isthreaded to securely accommodate the nut such that surgical instrumentis securely held between the clamp the base upon placing the surgicalinstrument in the second channel and tightening the nut.

BRIEF DESCRIPTION OF THE FIGURES

The foregoing and other objects, aspects, features, and advantages ofthe present disclosure will become more apparent and better understoodby referring to the following description taken in conjunction with theaccompanying drawings, in which:

FIG. 1 is an illustration of an example robotic surgical system in anoperating room;

FIG. 2 is an illustration of an example drill guide and two drill bits;

FIG. 3A is an illustration of a drill guide in the position in which itis held relative to the robotic arm;

FIG. 3B is an illustration of a drill guide held by an exampleinstrument holder;

FIG. 4 is an illustration of a cross-sectional view an exampleinstrument holder with a drill guide held therein;

FIGS. 5A-B are illustrations of an example base of a surgical instrumentholder.

FIG. 6A is an illustration of an example surgical instrument holderbefore a clamp is installed;

FIG. 6B is an illustration of an example surgical instrument holder witha clamp inserted and positioned against the instrument;

FIG. 7 is an illustration of an example clamp from the guide-side of theclamp;

FIG. 8 is an illustration of an example surgical instrument;

FIGS. 9A-B are illustrations of an example instrument holder with aninstrument and a nut for securing the instrument in the holder;

FIGS. 10A-B are illustrations of a system for securing the instrumentholder on the robotic arm;

FIG. 11 is an illustration of an example base of an instrument holder;

FIG. 12A is an illustration of a clamp base and torque screw, inaccordance with an embodiment of the invention;

FIG. 12B is an illustration of a clamp base and torque screw, inaccordance with an embodiment of the invention; and

FIG. 12C is an illustration of a clamp base and screw driver, inaccordance with an embodiment of the invention.

The features and advantages of the present disclosure will become moreapparent from the detailed description set forth below when taken inconjunction with the drawings, in which like reference charactersidentify corresponding elements throughout. In the drawings, likereference numbers generally indicate identical, functionally similar,and/or structurally similar elements.

DETAILED DESCRIPTION

FIG. 1 illustrates an example robotic surgical system in an operatingroom 100. In some implementations, one or more surgeons, surgicalassistants, surgical technologists and/or other technicians, (106 a-c)perform an operation on a patient 104 using a robotic-assisted surgicalsystem. In the operating room the surgeon may be guided by the roboticsystem to accurately execute an operation. This may be achieved byrobotic guidance of the surgical tools, including ensuring the propertrajectory of the tool (e.g., drill or screw). In some implementations,the surgeon defines the trajectory intra-operatively with little or nopre-operative planning. The system allows a surgeon to physicallymanipulate the tool holder to safely achieve proper alignment of thetool for performing crucial steps of the surgical procedure. Operationof the robot arm by the surgeon (or other operator) in force controlmode permits movement of the tool in a measured, even manner thatdisregards accidental, minor movements of the surgeon. The surgeon movesthe tool holder to achieve proper trajectory of the tool (e.g., a drillor screw) prior to operation or insertion of the tool into the patient.Once the robotic arm is in the desired position, the arm is fixed tomaintain the desired trajectory. The tool holder serves as a stable,secure guide through which a tool may be moved through or slid at anaccurate angle. Thus, the disclosed technology provides the surgeon withreliable instruments and techniques to successfully perform his/hersurgery.

In some embodiments, the operation may be spinal surgery, such as adiscectomy, a foraminotomy, a laminectomy, or a spinal fusion. In someimplementations, the surgical robotic system includes a surgical robot102 on a mobile cart. The surgical robot 102 may be positioned inproximity to an operating table 112 without being attached to theoperating table, thereby providing maximum operating area and mobilityto surgeons around the operating table and reducing clutter on theoperating table. In alternative embodiments, the surgical robot (orcart) is securable to the operating table. In certain embodiments, boththe operating table and the cart are secured to a common base to preventany movement of the cart or table in relation to each other, even in theevent of an earth tremor.

The mobile cart may permit a user (operator) 106 a, such as atechnician, nurse, surgeon, or any other medical personnel in theoperating room, to move the surgical robot 102 to different locationsbefore, during, and/or after a surgical procedure. The mobile cartenables the surgical robot 102 to be easily transported into and out ofthe operating room 100. For example, a user 106 a may move the surgicalrobot into the operating room from a storage location. In someimplementations, the mobile cart may include wheels, a track system,such as a continuous track propulsion system, or other similar mobilitysystems for translocation of the cart. The mobile cart may include anattached or embedded handle for locomotion of the mobile cart by anoperator.

For safety reasons, the mobile cart may be provided with a stabilizationsystem that may be used during a surgical procedure performed with asurgical robot. The stabilization mechanism increases the globalstiffness of the mobile cart relative to the floor in order to ensurethe accuracy of the surgical procedure. In some implementations, thewheels include a locking mechanism that prevents the cart from moving.The stabilizing, braking, and/or locking mechanism may be activated whenthe machine is turned on. In some implementations, the mobile cartincludes multiple stabilizing, braking, and/or locking mechanisms. Insome implementations, the stabilizing mechanism is electro-mechanicalwith electronic activation. The stabilizing, braking, and/or lockingmechanism(s) may be entirely mechanical. The stabilizing, braking,and/or locking mechanism(s) may be electronically activated anddeactivated.

In some implementations, the surgical robot 102 includes a robotic armmounted on a mobile cart. An actuator may move the robotic arm. Therobotic arm may include a force control end-effector configured to holda surgical tool. The robot may be configured to control and/or allowpositioning and/or movement of the end-effector with at least fourdegrees of freedom (e.g., six degrees of freedom, three translations andthree rotations).

In some implementations, the robotic arm is configured to releasablyhold a surgical tool, allowing the surgical tool to be removed andreplaced with a second surgical tool. The system may allow the surgicaltools to be swapped without re-registration, or with automatic orsemi-automatic re-registration of the position of the end-effector.

In some implementations, the surgical system includes a surgical robot102, a tracking detector 108 that captures the position of the patientand different components of the surgical robot 102, and a display screen110 that displays, for example, real time patient data and/or real timesurgical robot trajectories.

In some implementations, a tracking detector 108 monitors the locationof patient 104 and the surgical robot 102. The tracking detector may bea camera, a video camera, an infrared detector, field generator andsensors for electro-magnetic tracking or any other motion detectingapparatus. In some implementation, based on the patient and robotposition, the display screen displays a projected trajectory and/or aproposed trajectory for the robotic arm of robot 102 from its currentlocation to a patient operation site. By continuously monitoring thepatient and robotic arm positions, using tracking detector 108, thesurgical system can calculate updated trajectories and visually displaythese trajectories on display screen 110 to inform and guide surgeonsand/or technicians in the operating room using the surgical robot. Inaddition, in certain embodiments, the surgical robot 102 may also changeits position and automatically position itself based on trajectoriescalculated from the real time patient and robotic arm positions capturedusing the tracking detector 108. For instance, the trajectory of theend-effector can be automatically adjusted in real time to account formovement of the vertebrae or other part of the patient during thesurgical procedure.

FIG. 2 is an illustration of an example drill guide and two drill bits.In some implementations, the surgical instrument held by the instrumentholder is an instrument guide (e.g., drill guide) configured to receivea second surgical instrument therethrough. The second surgicalinstrument may be a drill bit, tap, screw driver, or awl.

In some implementations, an instrument holder is an interface betweenthe robotic arm and a surgical instrument used during surgery. Theinstrument holder may be configured to hold the surgical instrumentprecisely, rigidly, and in a stable manner while permitting a surgeon toeasily and quickly install, or withdraw the surgical instrument in caseof emergency. The surgical instrument may be an instrument guide such asthe drill guide 202 shown in FIG. 2. In this example, the drill guide202 includes a hollow tube 204 with a reinforcement 206 at one end. Ahandle 208 and/or a navigation marker 210 may be attached (removably orpermanently) to the reinforcement 206. The navigation marker may be, forexample, navigation tracker such as the Dedicated NavLock™ tracker fromMedtronic, Inc. of Minneapolis, Minn. Drill bits 212 a-b may be usedwith the drill guide 202 to perform an operation, such as preparingholes in vertebrae.

FIG. 3A is an illustration of a drill guide 302 in the position in whichit is held relative to a tool holder's body 304. The tool holder 304 isattached to the robotic arm 306. The term tool holder is a generic termused to designate, in some implementations, the entire device that isattached to the robot arm's tip. FIG. 3B is an illustration of a drillguide held by an example instrument holder that includes, among otherthings, a base 310.

FIG. 4 is an illustration of a cross-sectional view of an exampleinstrument holder with a drill guide held therein. In someimplementations, the instrument holder includes a base 402, a clamp 404,a nut 406, localization pins 408 (e.g., three localization pins), and atightening screw 410. The base 402 is configured to be mechanicallycoupled to the robotic arm via a screw 410 inserted in a channel of thebase 402. The base 402 includes a second channel through which asurgical instrument (e.g., a drill guide) may be placed. The nut 406 maybe tightened to securely hold the surgical instrument between the clamp404 and the base 402.

FIGS. 5A-B are illustrations of an example base 500 of a surgicalinstrument holder. The base may include two surfaces (502 a-b) (e.g.,forming a large “V”—shown in blue in FIG. 5A) allowing localizing of theinstrument guide precisely as well as in a stable manner. The surfaces502 a and 502 b may be flat or curved surfaces. The large “V” in theupper portion of the base (e.g., surfaces 502 a-b) may receive thecylindrical reinforcement portion of the guide (e.g., 206 in FIG. 2)while another small “V” (shown by 502 c-d) receives the externalcylindrical tube portion of the guide (e.g., 204 in FIG. 2). Surface 504may define an axial position of the instrument guide. Surface 506 aand/or 506 b may come in contact with a navigation marker's attachmentmechanism to prevent the instrument from rotating along its axis whenassembled. In some implementations, the base and the surgical instrumentare configured such that only surfaces 502, 504, and 506 come in contactwith the surgical instrument when inserted therein. This may allow thesurgical instrument to be fully constrained in space.

The base 500 may include a first channel 510 having an interior surfacesized and shaped to accommodate a tightening screw configured tosecurely attach the base 500 directly or indirectly (e.g, via a toolholder) to a robotic arm of the robotic surgical system. The tighteningscrew may be placed inside the first channel 510 and extend through theopposite side of the base where it engages the robotic arm (e.g.,threads).

The base 500 may include a second channel 508 having an interior surfacewith a tapered cylindrical shape sized to accommodate a surgicalinstrument therethrough such that movement of the surgical instrument isconstrained in all directions except along an axis defined by the secondchannel surface 508. The first channel 510 and the second channel 508may intersect.

FIG. 6A is an illustration of an example surgical instrument holderbefore a clamp is installed. FIG. 6B is an illustration of an examplesurgical instrument holder with a clamp inserted and positioned againstthe instrument. The clamp 604 may be configured to engage the surgicalinstrument 606 and/or a navigation marker 608 when the surgicalinstrument 606 is placed through the second channel such that thesurgical instrument is securely held between the clamp 604 and the base602 upon tightening of a nut (e.g., nut 906 as shown in FIG. 9A). Theclamp 604 may include a channel having an interior surface shaped andsized to accommodate the first channel 610 sliding therethrough.

FIG. 7 is an illustration of an example clamp 700 from the guide-side ofthe clamp 700. The clamp 700 may include one or more tapered curvedsurface (e.g., 702 &704) configured to be engaged by a surgicalinstrument when the surgical instrument is secured in the second channel(e.g., 508 as shown in FIG. 5A). The tapered curved surface may includefour surfaces 702 a-b and 704 a-b (e.g., four flat surfaces) forming two“V” shapes (shaded) that come in contact with the surgical instrumentwhen inserted in the second channel (e.g., 508 as shown in FIG. 5A).Surfaces 706 a and/or 706 b may come in contact with the navigationmarker's attachment to hold it between the clamp 700 and the base (e.g.,500 in FIG. 5A). In some implementations, the navigation marker may bemounted in two different orientations, one in which it contacts surface706 a and another in which it contacts surface 706 b when the surgicalinstrument is inserted in the second channel. The clamp 700 may includeone or more slits 708 configured to allow a body of the clamp toelastically deform upon tightening of the nut. This may compensate fordimension variations in, among other things, surgical tools insertedinto the surgical instrument holder.

FIG. 8 is an illustration of an example surgical instrument 800. Thesurfaces of the surgical instrument that contact the surgical instrumentholder are shown in FIG. 8. In some implementations, surface 802 of thesurgical instrument contacts surface 504 of the surgical instrumentholder 500 as shown in FIG. 5A when the surgical instrument holder isinserted in the second channel (e.g., 508 in FIG. 5A). In someimplementations, surface 806 a-b of the surgical instrument contactssurface 502 a-b of the surgical instrument holder 500 as shown in FIG.5A when the surgical instrument holder is inserted in the second channel(e.g., 508 in FIG. 5A). In some implementations, surface 804 a-b of thesurgical instrument contacts surface 502 c-d of the surgical instrumentholder 500 as shown in FIG. 5A when the surgical instrument holder isinserted in the second channel (e.g., 508 in FIG. 5A). Thisconfiguration may allow for a very stable holding of the instrument inthe holder. Additionally, this configuration may prevent a user frominserting the clamp in a wrong orientation with respect to the base(e.g., given the difference in size and/or shape of surface 804 and 806where the clamp contacts the instrument).

FIGS. 9A-B are illustrations of an example instrument holder with aninstrument 902 and a nut 906 for securing the instrument 902 in theholder. An instrument 902 may be secured between a base 908 and a clamp904. In some implementations, a navigation marker 910 is secured betweenthe base 908 and the clamp 904. A nut 906 may be tightened against theclamp 904 to press the instrument 902 (and/or navigation marker 910)securely between the clamp 904 and the base 908. The nut 906 may beconfigured to engage threads on an exterior surface of the first channel(e.g., 510 as shown in FIG. 5A) and a cambered surface of the clamp.

In order to balance the tightening force Ft of the nut 906 between thebottom reaction force Rb and the top reaction force Rt as illustrated inFIG. 9B, the nut 906, in some implementations, comes in contact with acambered surface on the clamp 904 forming only a horizontal line ofcontact instead of a full surface. This horizontal line of contact mayallow the clamp 904 to slightly tilt to accommodate for dimensionalvariations. This isostatic designs may allow for decreasing internalforces and thus optimizing tightening force Rt and Rd.

The navigation marker may be, for example, a navigation tracker such asthe Dedicated NavLock™ tracker from Medtronic, Inc. of Minneapolis,Minn. The navigation marker may be used by a navigation camera to trackthe surgical instrument. In some implementations, a computing system ofthe robotic surgical system tracks the position of the patient and thesurgical tool, for example using tracking module. The computing systemreceives images of the patient, surgical tool position, and end effectorpositions from a tracking detector. In some implementations, images ofthe patient are received from a digital 3D scanner. Tracking module, forexample, may calculate the position of the surgical tool and the patientin real time. In an implementation, tracking module may track theposition of the surgical tool and the patient in free space. In anotherimplementation, tracking module may track the position of the surgicaltool and the patient with relation to each other. In an implementationtracking module may identify, from the images received from the trackingdetector, the portion of the patient to be operated on and the surgicaltool and track these identified objects. In another implementation,tracking module may track markers (e.g., navigation markers attached tothe portion of the patient to be operated on and the surgical tool.Tracking module may identify the markers from images received fromtracking detector and identify that these markers are attached to thepatient and to the surgical tool and accordingly, track the patientposition and surgical tool position.

FIGS. 10A-B are illustrations of a system for securing the instrumentholder on the robotic arm. In some implementations, the instrumentholder needs to be sterilized (e.g., in autoclave). The disclosedinstrument holder may be easily installed and removed from the roboticsystem without deteriorating localization precision as well asattachment rigidity. Localization precision may be achieved by, forexample, three localization pins 1002 inserted into the base. Adifferent number of localization pins 1002 may be used (e.g., 1 to 5pins). The pins 1002 may come in contact with oblong openings 1004 in athin localization plate 1006 precisely held on the robotic arm 1008(e.g., held on the tool holder's body 1010). The instrument holder'sbase 1012 may be localized on the robotic arm 1008 (e.g., held on thetool holder's body 1010) using pins 1002 that come in contact withoblong openings 1004 in a localization plate 1006 precisely held on therobot 1008. A screw 1014 may be tightened directly into the robot 1008to rigidly attached the instrument holder's base 1012 to the robot 1008.FIG. 10B illustrates a front view of an example localization plate 1006.The one or more pins 1002 may be inserted into the base such that theone or more pins 1002, upon mechanically coupling the base to therobotic arm, engage one or more openings 1004 in a robotic arm 1008(e.g., in a localization plate 1006 of the robotic arm 1008) therebyprecisely locating the surgical instrument holder relative to therobotic arm 1008 (e.g., the one or more openings 1004 may be wider thanthe one or more pins and the one or more openings may taper long theirlengths).

FIG. 11 is an illustration of an example base 1102 of an instrumentholder with pins 1104 a-c inserted into the base 1102. The base 1102 maybe configured to be mechanically coupled to a robotic arm of the roboticsurgical system. The base 1102 may include one or more pins 1104 (e.g.,three pins 1104 a-c) inserted into the base 1102 such that the one ormore pins 1104, upon mechanically coupling the base 1102 to the roboticarm, engage one or more openings in a tool support (e.g., in alocalization plate of the robotic arm) thereby precisely locating thesurgical instrument holder relative to the robotic arm.

FIG. 12A is an illustration of a clamp base 1202 and torque screw 1204.In some implementations, a threaded bushing 1206 is press fitted intothe clamp base 1202. The torque screw 1204 is made of metal such that itprovides a strong attachment to the robot and satisfies the cleaning andsterilization requirements. The threads on the torque screw 1204 engagethe threaded bushing 1206 that is press fitted into the clamp base 1202.As the torque screw 1204 is tightened, the threads on the torque screw1204 pass through the threaded bushing 1206 such that the end of thetorque screw 1204 closest to the torque screw head (i.e., the portionthat has a smaller diameter and no threads) resides in the threadedbushing 1206 (e.g., somewhat loosely since there are no threads). Theadvantage here is the torque screw 1204 and clamp base assembly 1202 canthen be mounted on the robot without the risk of losing the torque screw1204 during assembly as the torque screw 1204 cannot slide out of thethreaded bushing 1206 as the threads on the torque screw 1204 willcontract the threaded bushing 1206 (i.e., thereby preventing the torquescrew 1204 from sliding out of the bushing 1206 without unscrewing thetorque 1204 from the bushing 1206). The clamp base 1202 in this exampleincludes three localization pins 1210 a-c as described above.

FIG. 12B is an illustration of a clamp base 1202 with a torque screw1204 fully inserted into the threaded bushing 1206. The end of thetorque screw 1204 has a smaller diameter in order to allow tightening iton the tool holder body as well as providing a gap between the torquescrew 1204 and clamp base 1202 for cleaning.

FIG. 12C is an illustration of a clamp base 1202 and screw driver 1208.For tightening the torque screw 1204, a screw driver 1208 is designedwith a shaft diameter close to the inner diameter of the clamp base1202. Therefore, the screw driver 1208 is guided by the clamp base 1202once it's inserted into the clamp base 1202 and this simplifies fittingthe tip of the screwdriver 1208 on the head of the screw 1204.

In view of the structure, functions and apparatus of the systems andmethods described here, in some implementations, a system and method forperforming surgery with a robotic surgical system are provided. Havingdescribed certain implementations of methods and apparatus forsupporting a robotic surgical system, it will now become apparent to oneof skill in the art that other implementations incorporating theconcepts of the disclosure may be used. Therefore, the disclosure shouldnot be limited to certain implementations, but rather should be limitedonly by the spirit and scope of the following claims.

Throughout the description, where apparatus and systems are described ashaving, including, or comprising specific components, or where processesand methods are described as having, including, or comprising specificsteps, it is contemplated that, additionally, there are apparatus, andsystems of the disclosed technology that consist essentially of, orconsist of, the recited components, and that there are processes andmethods according to the disclosed technology that consist essentiallyof, or consist of, the recited processing steps.

It should be understood that the order of steps or order for performingcertain action is immaterial so long as the disclosed technology remainsoperable. Moreover, two or more steps or actions may be conductedsimultaneously.

What is claimed is:
 1. A robotic surgical system comprising: a surgicalrobot having a moveable robotic arm and a tool holder attached to therobotic arm, wherein the tool holder includes a base configured to bemechanically coupled to the robotic arm, the base having a first channelsized and shaped to accommodate a tightening screw configured tosecurely attach the base to the robotic arm and a second channel sizedand shaped to accommodate a surgical instrument therethrough, whereinthe first channel intersects the second channel.
 2. The robotic surgicalsystem of claim 1, wherein movement of the surgical instrument isconstrained in all directions except along an axis defined by the secondchannel.
 3. The robotic surgical system of claim 1, wherein the toolholder further comprises one or more pins projecting from the base suchthat the one or more pins are configured to engage one or more openingsin the robotic arm thereby precisely locating the tool holder relativeto the robotic arm.
 4. The robotic surgical system of claim 3, whereinthe one or more openings are one or more oblong openings.
 5. The roboticsurgical system of claim 3, wherein the one or more openings are widerthan the one or more pins and the one or more openings taper long theirlengths.
 6. The robotic surgical system of claim 1, wherein the toolholder further comprises a clamp configured to engage the surgicalinstrument when placed through the second channel such that the surgicalinstrument is securely held between the clamp and the base.
 7. Therobotic surgical system of claim 6, wherein the clamp comprises a thirdchannel having an interior surface shaped and sized to accommodate thefirst channel sliding therethrough; a second tapered curved surfaceconfigured to be engaged by a surgical instrument when the surgicalinstrument is secured in the second channel; and one or more slitsconfigured to allow a body of the clamp to elastically deform upontightening of a nut, wherein the nut is configured to engage threads onan exterior surface of the first channel and a cambered surface of theclamp.
 8. The robotic surgical system of claim 7, wherein instrumentholder is configured such that a navigation marker is securely heldbetween the clamp and the base upon placing the navigation markerbetween the clamp and the base and tightening the nut.
 9. The roboticsurgical system of claim 7, wherein an exterior surface of the firstchannel is threaded to securely accommodate the nut such that surgicalinstrument is securely held between the clamp the base upon placing thesurgical instrument in the second channel and tightening the nut. 10.The robotic surgical system of claim 1, wherein the base comprises athreaded bushing having an interior surface.
 11. The robotic surgicalsystem of claim 10, wherein the first channel passes through an interiorsurface of the threaded bushing and the interior surface of the threadedbushing is threaded such that the threads on the tightening screw engagethe threads on the threaded bushing as the tightening screw is insertedthrough the threaded bushing.
 12. The robotic surgical system of claim1, wherein the tightening screw comprises a tip on a proximate end of ascrew body, a head on a distal end of the screw body, and threads alonga portion of the screw body.
 13. The robotic surgical system of claim12, wherein the threads are along a portion of the screw body closest tothe tip of the tightening screw.
 14. The robotic surgical system ofclaim 13, wherein the portion of the screw body closest to the head issmooth such that the tightening screw is loosely held in place by thethreaded bushing when the tightening screw is fully inserted into thethreaded bushing.
 15. The robotic surgical system of claim 1, whereinthe surgical instrument is an instrument guide configured to receive asecond surgical instrument therethrough, the second surgical instrumentcomprising a member selected from the group consisting of: a drill bit,tap, screw driver, and awl.
 16. The robotic surgical system of claim 1,wherein the robotic surgical system is for use in spinal surgery.
 17. Arobotic surgical system comprising: a surgical robot having a moveablerobotic arm and a tool holder attached to the robotic arm, wherein thetool holder includes a base configured to be mechanically coupled to therobotic arm, the base having a first channel sized and shaped toaccommodate a tightening screw configured to securely attach the base tothe robotic arm and a second channel sized and shaped to accommodate asurgical instrument therethrough, wherein the first channel intersectsthe second channel, and the tool holder further comprising one or morepins projecting from the base such that the one or more pins areconfigured to engage one or more openings in the robotic arm therebyprecisely locating the tool holder relative to the robotic arm.
 18. Therobotic surgical system of claim 17, wherein the clamp comprises a thirdchannel having an interior surface shaped and sized to accommodate thefirst channel sliding therethrough; a second tapered curved surfaceconfigured to be engaged by a surgical instrument when the surgicalinstrument is secured in the second channel; and one or more slitsconfigured to allow a body of the clamp to elastically deform upontightening of a nut, wherein the nut is configured to engage threads onan exterior surface of the first channel and a cambered surface of theclamp.
 19. A robotic surgical system comprising: a surgical robot havinga robotic arm; a tool holder attached to the robotic arm, wherein thetool holder includes a base configured to be mechanically coupled to therobotic arm, the base having a first channel sized and shaped toaccommodate a tightening fastener configured to securely attach the baseto the robotic arm and a second channel having a through-hole, thethrough-hole having an inlet through which a distal end of a surgicalinstrument enters and an outlet through which the distal end of thesurgical instrument exits, the through-hole sized and shaped to slidablyreceive the surgical instrument therethrough such that movement of thesurgical instrument is constrained in all directions except along anaxis defined by the through-hole, wherein the first channel intersectsthe second channel.